Periscopic doffing device

Abstract

The present disclosure provides a periscopic doffing apparatus.SOLUTION: A winding package receiving mechanism, comprising a first lifting lever set, a first driving motor and a first platform, wherein the first lifting lever set is fixed on the frame, and a front end of the first lifting lever set is connected to the first platform; a second lifting lever set, a second driving motor and a second platform, wherein the second lifting lever set is disposed on the first platform, and a front end of the second lifting lever set is connected to the second platform; a rotary motor and a rotary frame, wherein the rotary motor is fixed on the second platform, and the rotary motor is connected to a rotary table at a bottom of the rotary frame; and a receiving rod and a translation assembly.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to the field of chemical fiber production technology, and more particularly to a periscopic doffing device. [Background technology]

[0002] The process of removing a winding bobbin from the working position of the winding machine after winding is completed is called doffing, and the winding bobbin after winding is completed is called a winding package. Generally, when removing winding packages from the winding machine all at once by rod, it is necessary to butt a receiving rod corresponding to the width of all the winding packages on the rod in the same direction as the winding rod of the winding machine. Summary of the Invention [Problem to be solved by the invention]

[0003] The width of the yarn package receiving and doffing device is too wide, significantly occupying the working aisle during operation and preventing personnel and other material receiving mechanisms from passing through. [Means for solving the problem]

[0004] SUMMARY OF THE INVENTION Embodiments of the present disclosure provide a periscopic doffing apparatus to solve or alleviate one or more technical problems of the prior art.

[0005] In one aspect of an embodiment of the present disclosure, there is provided a periscopic doffing apparatus, the apparatus comprising: a travel mechanism including a frame, a travel wheel, and a travel motor, the travel mechanism being installed in an underground trench below ground, the underground trench being installed along a first straight line, the first straight line being parallel to a second straight line formed by the plurality of material receiving stations; a first lifting mechanism including a first lifting lever set, a first drive motor, and a first platform, the first lifting lever set being fixed to the frame, a tip of the first lifting lever set being connected to the first platform, and the first lifting lever set adjusting the height of the first platform by driving the first drive motor; a second lifting mechanism including a second lifting lever set, a second driving motor, and a second platform, the second lifting lever set being installed on the first platform, a tip of the second lifting lever set being connected to the second platform, and the second lifting lever set adjusting the height of the second platform by driving the second driving motor; a rotation mechanism including a rotation motor and a rotation frame fixed to the second platform, wherein the rotation motor is fixed to the second platform, the rotation motor is connected to a rotation table at the bottom of the rotation frame, and the rotation frame is provided with a horizontally installed slide rail assembly, and the orientation of the rotation frame is switched between a first direction and a second direction by driving the rotation motor; and a wound thread package receiving mechanism including a receiving rod and a translation assembly, wherein a first end of the receiving rod is connected to the translation assembly, the translation assembly is connected to the slide rail assembly, and the receiving rod is moved telescopically along the direction of the rotating frame by driving the translation assembly so that a second end of the receiving rod reaches the target material receiving station and receives the material to be transported.

[0006] In one possible embodiment, the first lifting lever set includes a plurality of hydraulic lifting levers, the bottoms of which are fixed to a central portion of the frame, and the tips of which are evenly spaced across the edge of the first platform.

[0007] In one possible embodiment, the second lifting lever set includes multiple sets of screws and slide rods, the slide rods are fixedly connected to one of the first platform and the second platform and slidably connected to the other, the bottom of the screws passes through the first platform and is connected to a second drive motor installed below the first platform, and the second drive motor rotates the screws to raise and lower the second platform.

[0008] In one possible embodiment, a pair of vertical plates are provided on both longitudinal sides of the rotation mechanism, the bottoms of the pair of vertical plates are connected to the rotary table via a bottom plate, the vertical plates are provided with horizontally arranged long holes, a slide rail assembly is fixed to the inside of the vertical plates below the long holes, a translation assembly is installed between the pair of vertical plates, a translation motor of the translation assembly is connected to the slide rail assembly, and a slider of the translation assembly is connected through the long hole to a first end of a receiving rod located outside the vertical plates.

[0009] In one possible embodiment, the slide rail assembly includes a rack rail and an H-shaped rail, the H-shaped rail is fixed to the bottom plate, the rack rail is fixed to the inside of the vertical plate, the bottom of the translation motor is connected to the H-shaped rail via a wheel, the output end of the translation motor is connected to the rack rail via a gear, and the slider is connected to the translation motor.

[0010] In one possible embodiment, the periscopic doffing device further comprises an auxiliary support mechanism, The auxiliary support mechanism includes a stopper sleeve, a support rod, a switch assembly, a pulling rope, and a locking pin, the stopper sleeve is provided at a first end of the rotation mechanism, a vertical through-hole is formed in the center of the stopper sleeve, the support rod is movably provided in the vertical through-hole, a locking pin is provided on one side of the vertical through-hole, the locking pin is connected to the switch assembly, the support rod is provided with one-way teeth that match the locking pin, and the locking pin is separated from or engaged with the support rod by driving the switch assembly, a first end of the pulling rope is connected to the bottom of the support rod, and a second end of the pulling rope is connected to a power source for lifting the support rod.

[0011] In one possible embodiment, the second end of the pulling rope is detachably connected to the claw of the translation assembly via a connecting block, which is provided in a slide groove parallel to the slide rail assembly, and which moves the connecting block to separate the claw from the connecting block so that the support rod slides to the ground by gravity before the translation assembly extends outward, and to lift and retrieve the support rod while the translation assembly retracts inward.

[0012] In one possible embodiment, when the doffing apparatus heads toward the target material receiving station, the entire doffing apparatus is located within an underground trench, and when the doffing apparatus reaches the target material receiving station, the wound yarn package receiving mechanism rises from within the underground trench and docks with the target material receiving station by driving the first lifting mechanism, the second lifting mechanism and the rotation mechanism to receive the material to be transported, and when the doffing apparatus returns from the target material receiving station, at least a portion of the doffing apparatus is located within the underground trench, and when the running mechanism of the doffing apparatus moves, the orientation of the rotating frame is in a first direction, and the first direction is parallel to the first straight line.

[0013] In one possible embodiment, after the doffing device reaches the target material receiving station: The first lifting mechanism and the second lifting mechanism lift the wound yarn package receiving mechanism to a height matching the target material receiving station, the rotation mechanism rotates the rotating frame in a second direction which is the movement direction of the material to be transferred at the target material receiving station, and the second end of the receiving rod is extended horizontally by driving the translation assembly to reach the target material receiving station, thereby performing a material receiving operation.

[0014] In one possible embodiment, the first end of the rotating frame is provided with an imaging device for determining the position difference between the second end of the receiving rod and the target material receiving station; The second lifting mechanism adjusts the longitudinal position of the second end of the receiving rod based on the position difference to achieve accurate docking; and / or The rotation mechanism adjusts the lateral position of the second end of the receiver rod in response to the position difference.

[0015] According to the embodiments of the present disclosure, it is possible to reduce the space occupied in the aisles and on the ground.

[0016] It should be understood that the contents described herein are not intended to describe key or important features of the embodiments of the present disclosure, nor are they intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will be better understood through the following specification.

[0017] In the accompanying drawings, unless otherwise stated, the same numbers represent the same or similar parts or elements throughout the several views. The accompanying drawings are not necessarily drawn to scale. It can be understood that the drawings illustrate only some embodiments provided by the present disclosure and should not be considered as limiting the scope of the present disclosure. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram of a configuration of a periscopic doffing device according to an embodiment of the present disclosure. [Figure 2]1. FIG. 4 is a schematic diagram of the configuration when the rotation mechanism of the doffing device in FIG. 1 faces in a second direction. [Figure 3] 3 is a partially enlarged schematic view of the rotation mechanism and wound yarn package receiving mechanism shown in FIG. 2. FIG. [Figure 4] FIG. 2 is a schematic diagram of the configuration of a doffing device according to an embodiment of the present disclosure in an unloaded, lowered state. [Figure 5] 1 is a schematic diagram of a configuration of a doffing apparatus according to an embodiment of the present disclosure when fully loaded with materials to be transported. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Only illustrative embodiments of the present disclosure will now be described with reference to the accompanying drawings. Those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of the present disclosure. Accordingly, the accompanying drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

[0020] 1 is a schematic diagram of a periscopic doffing device according to an embodiment of the present disclosure. As shown in FIG. 1, the device includes: a traveling mechanism 10 including a frame 12, traveling wheels 11, and a traveling motor, the traveling mechanism 10 being installed in an underground trench below the ground, the underground trench being installed along a first straight line, the first straight line being parallel to a second straight line formed by a plurality of material receiving stations; a first lifting mechanism including a first lifting lever set 21, a first drive motor, and a first platform 22, the first lifting lever set 21 being fixed to the frame 12, a tip of the first lifting lever set 21 being connected to the first platform 22, and the first lifting lever set 21 adjusting the height of the first platform 22 by driving the first drive motor; a second lifting mechanism including a second lifting lever set, a second driving motor 34, and a second platform 33, the second lifting lever set being installed on the first platform 22, a tip of the second lifting lever set being connected to the second platform 33, and the second lifting lever set adjusting the height of the second platform 33 by driving the second driving motor 34; a rotation mechanism including a rotation motor 41 and a rotation frame 42 fixed to the second platform 33, the rotation motor 41 being fixed to the second platform 33 and connected to a rotation table 43 at the bottom of the rotation frame 42, the rotation frame 42 being provided with a horizontally installed slide rail assembly, and the orientation of the rotation frame 42 being switched between a first direction and a second direction by driving the rotation motor 41; The wound yarn package receiving mechanism includes a receiving rod (51) and a translation assembly, wherein a first end of the receiving rod (51) is connected to the translation assembly, the translation assembly is connected to the slide rail assembly, and the receiving rod (51) is moved retractably and extendably along the direction of the rotating frame (42) by driving the translation assembly so that a second end of the receiving rod (51) reaches the target material receiving station and receives the material to be transported.

[0021] In the embodiment of the present disclosure, multiple material receiving stations correspond to multiple winding machines, which can be arranged in multiple rows, with an aisle between two facing rows to facilitate the movement of personnel and equipment. When a winding operation is completed on one of the winding machines and the wound yarn package formed by the winding needs to be removed, the periscopic doffing device can travel through the underground tunnel like a submarine. Upon reaching the target material receiving station corresponding to that winding machine, the wound yarn package receiving mechanism rises from the underground tunnel like a periscopic mirror, rotates, and can be docked at the target material receiving station. A ground rail is provided at the bottom of the underground tunnel, and the running wheels 11 of the traveling mechanism 10 can move on the ground rail by driving a traveling motor. The running wheels 11 and the traveling motor are provided on a frame 12. A movable cover can be installed on the top of the underground tunnel. The top surface of some sections of the underground tunnel can be closed to allow people to stand and walk when the doffing device is not moving through the underground tunnel.

[0022] The first lifting mechanism is fixed to the frame 12 and is used to control the elevation of the first platform 22. The second lifting mechanism is fixed to the first platform 22 and is used to control the elevation of the second platform 33. The rotation mechanism is provided on the second platform 33 and is used to horizontally control the orientation of itself and the wound yarn package receiving mechanism. The receiving rod 51 of the wound yarn package receiving mechanism can be extended outward along the orientation of the wound yarn package receiving mechanism by driving the translation assembly, thereby reaching the target material receiving station and positioning the receiving rod 51 in line with the winding rod of the winding machine. As the winding machine pushes the wound yarn packages outward from the winding rod, the receiving rod 51 receives the wound yarn packages one by one. The length of the receiving rod 51 matches the length of the winding rod, meaning that the receiving rod 51 can receive all the wound yarn packages on the winding rod at once.

[0023] Furthermore, the receiving rod 51 must be long enough to simultaneously receive all the wound yarn packages on the winding rod. During doffing, the receiving rod 51 is perpendicular to the length of the aisle, significantly occupying the aisle width. If the receiving rod 51 continues to move perpendicular to the aisle without adjusting its orientation after receiving is complete, it may be difficult to pass through the entire aisle. For example, an automated guided vehicle (AGV) is used for doffing and transportation. Therefore, the receiving rod 51 must be rotated so that its longitudinal direction coincides with the longitudinal direction of the aisle during movement, thereby reducing the space it occupies across the aisle width. Related technical solutions typically install fixed rails (i.e., top and bottom rails) on the ground of the aisle and / or above the aisle. While the implementation of the bottom rails is not difficult, the winding rod-related components of the winding machine must be periodically removed for maintenance. Therefore, the winding rod-related components can only be removed in a linear fashion along their own length. The presence of the bottom rails can easily interfere with the installation and maintenance of the winding machine.

[0024] It should be understood that the first direction is the longitudinal direction of the aisle and is the direction in which the doffing device moves through the aisle, and the second direction is the direction in which the material to be transported (wound yarn package) 80 moves as it is removed from the winder, and the second direction is typically perpendicular to the first direction.

[0025] Also, two sets of doffing devices can be installed in one aisle, with each doffing device responsible for doffing the winders on that side of the aisle. Alternatively, only one set of doffing devices responsible for doffing the winders on both the left and right sides of the aisle may be provided. That is, switching from the first direction to the second direction can be achieved by driving the rotation motor 41 to rotate the orientation of the rotating frame 42 by 90° clockwise or counterclockwise, depending on the initial orientation of the rotating frame 42 and which side of the aisle the target material receiving station is located on.

[0026] According to an embodiment of the present disclosure, the doffing device travels in the underground tunnel and can rise from the underground tunnel when receiving the material 80 to be transported, thereby reducing the amount of aisle space occupied.

[0027] In one possible embodiment, the first lifting lever set 21 includes a plurality of hydraulic lifting levers, the bottoms of which are fixed to the center of the frame 12, and the tips of which are evenly spaced across the edge of the first platform 22.

[0028] In the embodiment of the present disclosure, the first lifting lever set 21 includes four or more hydraulic lifting levers, and the first drive motor is connected to an oil pump. The oil pump is connected to the hydraulic cylinder of the hydraulic lifting lever. The upper side of the hydraulic cylinder is connected to the frame 12 to increase the stability of other components above it. The first drive motor and the oil pump are not shown in FIG. 1 , and both may be provided in a housing at the front or rear of the frame 12. The maximum stroke of the first lifting lever set 21 is 50% or more of the difference between the lowest position of the wound yarn package receiving mechanism and the height at which the material receiving station is located. Preferably, the maximum stroke of the first lifting lever set 21 is 80% or more of the difference between the lowest position of the wound yarn package receiving mechanism and the height at which the material receiving station is located. That is, most of the height stroke is completed by the first lifting mechanism, and a small portion of the height stroke is completed by the second lifting mechanism.

[0029] According to the solution of the embodiment of the present disclosure, by using a hydraulic lifting lever as the first stage lifting mechanism, the lifting operation can be made faster and the doffing efficiency can be improved.

[0030] In one possible embodiment, the second lifting lever set includes multiple sets of screws 32 and slide rods 31, and the slide rods 31 are fixedly connected to one of the first platform 22 and the second platform 33 and slidably connected to the other. The bottom of the screws 32 passes through the first platform 22 and is connected to a second drive motor 34 installed below the first platform 22, and the second drive motor 34 rotates the screws to raise and lower the second platform 33.

[0031] In the embodiment of the present disclosure, there are at least four slide rods 31, each located at one of the four corners of the platform and offset from the first lifting lever set 21. The ends of the slide rods 31 are fixedly connected to the second platform 33, and the remaining portions can pass through the first platform 22. The length of the slide rods 31 is not longer than the stroke of the threaded screws 32. A stopper may be provided at the bottom of the slide rods 31. There are at least two threaded screws 32, and the ends of the threaded screws 32 and the second platform 33 are connected by a rotary bearing, meaning that the threaded screws 32 and the second platform 33 do not move relative to each other. The threaded screws 32 are connected to the output assembly of the second drive motor 34 through a circular hole on the first platform 22. The output assembly includes an output shaft and a gear set. The second drive motor 34 rotates the threaded screws 32, which moves relative to the second drive motor 34 and the first platform 22, thereby raising and lowering the second platform 33 connected to the threaded screws 32.

[0032] According to the solution of the embodiment of the present disclosure, by using a screw 32 as the lifting mechanism of the second stage, more precise height control is achieved and accurate docking of the receiving rod 51 with the target material receiving station is facilitated.

[0033] 2 is a schematic diagram of a configuration in which the rotation mechanism of the doffing apparatus in FIG. 1 faces a second direction. As shown in FIG. 2, in one possible embodiment, a pair of vertical plates 421 are provided on both longitudinal sides of the rotation mechanism, the bottoms of the pair of vertical plates 421 are connected to the rotary table 43 via a bottom plate 422, the vertical plates 421 are provided with horizontally arranged slots, a slide rail assembly is fixed to the inside of the vertical plates 421 below the slots, a translation assembly is installed between the pair of vertical plates 421, a translation motor 53 of the translation assembly is connected to the slide rail assembly, and a slider 52 of the translation assembly is connected to a first end of a receiving rod 51 located outside the vertical plates 421 through the slots.

[0034] In the embodiment of the present disclosure, a pair of vertical plates 421 and a bottom plate 422 connecting the bottoms of the two vertical plates 421 constitute the rotating frame 42. The vertical plates 421 can have a radian corresponding to the material 80 to be transported. The vertical plates 421 have a receiving rod 51 and a translating assembly disposed on both sides thereof, i.e., the translating assembly is disposed between the pair of vertical plates 421. The translating assembly is connected to the receiving rod 51 via a slider 52 passing through the vertical plates 421, and the vertical plates 421 are used to separate the material 80 to be transported to avoid unexpected contamination or damage by mechanical parts.

[0035] In one possible embodiment, as shown in FIG. 2 , the slide rail assembly includes a rack rail 441 and an H-shaped rail 442, the H-shaped rail 442 is fixed to the bottom plate 422, the rack rail 441 is fixed to the inside of the vertical plate 421, the bottom of the translation motor 53 is connected to the H-shaped rail 442 via a wheel 54, the output end of the translation motor 53 is connected to the rack rail 441 via a gear, and the slider 52 is connected to the translation motor 53.

[0036] In one example, the doffing device includes two sets of wound yarn package receiving mechanisms, and accordingly, two sets of slide rail assemblies are installed on the rotating mechanism, and the two sets of wound yarn package receiving mechanisms and the slide rail assemblies are installed symmetrically. The two sets of wound yarn package receiving mechanisms can receive wound yarn packages from different winders, thereby improving transport efficiency.

[0037] In the embodiment of the present disclosure, the translation motor 53 drives gears to achieve movement on the rack rail 441 and the H-shaped rail 442. Two wheel holders are symmetrically provided at the bottom of the translation motor 53, and each wheel holder is provided with two wheel sets 54, one above the other, which are respectively connected to the upper and lower sides of the top plane of the H-shaped rail 442, thereby fixing the translation motor 53 in the vertical direction. The rack rail 441 is provided inside the vertical plate 421, and after the receiving rod 51 receives all the wound yarn packages on the rod at once, the rack rail 441 can share some of the weight as a fulcrum closer to the receiving rod 51.

[0038] 3 is a partially enlarged schematic view of the rotation mechanism and the wound yarn package receiving mechanism in FIG. 2. In one possible embodiment, referring to FIGS. 2 and 3, the doffing device further includes an auxiliary support mechanism, The auxiliary support mechanism includes a stopper sleeve 62, a support rod 61, a switch assembly 63, a pulling rope 64, and a locking pin. The stopper sleeve 62 is disposed at a first end of the rotation mechanism. A longitudinal through-hole is formed in the center of the stopper sleeve 62. The support rod 61 is movably disposed in the longitudinal through-hole. A locking pin is disposed on one side of the longitudinal through-hole. The locking pin is connected to the switch assembly 63. The support rod 61 is provided with one-way teeth that match the locking pin. The locking pin is disengaged or engaged with the support rod 61 by driving the switch assembly 63. The first end of the pulling rope 64 is connected to the bottom of the support rod 61. The second end of the pulling rope 64 is connected to a power source for lifting the support rod 61.

[0039] In an embodiment of the present disclosure, the auxiliary support mechanism can act as a support for the wound yarn package receiving mechanism when receiving the material 80 to be transported, thereby preventing the wound yarn package receiving mechanism from receiving the material 80 to receive the material 80 from sagging at its farthest end due to increased weight, which can cause the received material to slip off during subsequent material reception and retrieval of the receiving rod 51.

[0040] During operation, after the rotation mechanism adjusts the orientation of the rotation frame 42 in the second direction, the switch assembly 63 of the auxiliary support mechanism separates the locking pin from the support rod 61, causing the support rod 61 to slide to the ground due to gravity, and the support leg 65 is provided at the bottom of the support rod 61. The switch assembly 63 re-engages the locking pin with the one-way teeth of the support rod 61, ensuring that the support rod 61 cannot move upward. When the rotation mechanism needs to be readjusted to the first direction, the switch assembly 63 separates the locking pin from the support rod 61, and the power source pulls to retrieve the support rod 61.

[0041] In one possible embodiment, the second end of the pulling rope 64 is detachably connected to the claw 55 of the translation assembly via a connecting block 66, which is provided in a slide groove parallel to the slide rail assembly, and before the translation assembly extends outward, the claw 55 separates from the connecting block 66 so that the support rod 61 slides to the ground by gravity, and while the translation assembly retracts inward, the claw 55 moves the connecting block 66 so that the support rod 61 is lifted and retrieved.

[0042] In the embodiment of the present disclosure, the translation assembly is used as the power source for the auxiliary support mechanism. Thus, a slide groove is provided on the side of the slide rail assembly closer to the auxiliary support mechanism, the slide groove being parallel to the H-shaped rail 442, and the connecting block 66 is movably provided in the slide groove. A claw 55 and an electric switch are provided on the side of the wheel 54 at the bottom of the translation motor 53, and the electric switch can control the claw 55 to protrude outward or fold inward. The upper part of the connecting block 66 is located on the movement path of the claw 55. Before the translation assembly extends outward to dock with the target material receiving station, the electric switch can fold the claw 55, thereby separating the claw 55 from the connecting block 66 and preventing the second end of the pulling rope 64 from being restrained. While the translation assembly retracts inward, the electric switch ejects the claw 55, which in the process of moving moves the connecting block 66, thereby pulling and lifting the support rod 61 for retrieval.

[0043] In one possible embodiment, when the doffing apparatus heads toward the target material receiving station, the entire doffing apparatus is located in the underground trench, and when the doffing apparatus reaches the target material receiving station, the wound yarn package receiving mechanism rises from the underground trench and docks with the target material receiving station by driving the first lifting mechanism, the second lifting mechanism and the rotation mechanism to receive the material to be transported, and when the doffing apparatus returns from the target material receiving station, at least a portion of the doffing apparatus is located in the underground trench, and when the running mechanism 10 of the doffing apparatus moves, the orientation of the rotating frame 42 is in a first direction, and the first direction is parallel to the first straight line.

[0044] In the embodiment of the present disclosure, a doffing task typically includes three steps: moving to a target material receiving station, docking with the target material receiving station, and returning from the target material receiving station. During the movement to and return from the target material receiving station, the entire doffing apparatus can travel within an underground tunnel, as shown in Figures 4 and 5. Also, during the return from the target material receiving station, the doffing apparatus can travel without descending or only partially descending, leaving the material 80 to be transferred on the ground. This allows for faster movement to the next target material receiving station and receiving the material 80 to be transferred.

[0045] In one possible embodiment, the doffing device performs a material receiving operation after reaching the target material receiving station, i.e., the first lifting mechanism and the second lifting mechanism lift the wound yarn package receiving mechanism to a height matching the target material receiving station, the rotation mechanism rotates the rotating frame 42 in a second direction which is the movement direction of the material 80 to be transported at the target material receiving station, and the second end of the receiving rod 51 is extended horizontally by driving the translation assembly so as to reach the target material receiving station.

[0046] In the embodiment of the present disclosure, the hydraulic lifting lever of the first lifting mechanism rapidly moves the wound yarn package receiving mechanism to the height of the target material receiving station, and then the second lifting mechanism performs a secondary adjustment of the height of the wound yarn package receiving mechanism. When the second end of the receiving rod 51 reaches the target material receiving station, if the second end of the receiving rod 51 is not aligned with the target material receiving station, the second lifting mechanism can also perform a fine adjustment.

[0047] In one possible embodiment, the first end of the rotating frame 42 is provided with an imaging device 71 for determining the position difference between the second end of the receiving rod 51 and the target material receiving station; To achieve accurate docking, the second lifting mechanism adjusts the vertical position of the second end of the receiving rod 51 based on the position difference; and / or The rotation mechanism adjusts the lateral position of the second end of the receiving rod 51 in response to the position difference.

[0048] In the embodiment of the present disclosure, the position difference between the second end of the receiving rod 51 and the target material receiving station is determined through image recognition by the imaging device 71. Markers can be installed at the second end of the receiving rod 51 and at each target material receiving station, and any method in the prior art can be used to calibrate the imaging device 71 to identify the position difference between the second end of the receiving rod 51 and the target material receiving station based on the image information collected by the imaging device 71. This position difference can be decomposed into a horizontal position difference and a vertical position difference, which can be adjusted by the second lifting mechanism and the rotation mechanism, respectively, to achieve accurate docking.

[0049] Other configurations of the doffing device according to the above embodiment can adopt various current and future technical solutions known to those skilled in the art, and will not be repeated here.

[0050] In the description herein, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like indicate orientations or positional relationships based on those shown in the accompanying drawings, are intended only to facilitate and simplify the description of the present disclosure, and do not indicate or suggest that the devices or elements referred to must have a particular orientation, be configured, or operate in a particular orientation, and therefore should not be construed as limitations of the present disclosure.

[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or designating the number of implied technical features. Thus, features defined with the terms "first" and "second" may explicitly or implicitly include one or more such features. In the description of this disclosure, "plurality" means two or more, unless expressly and specifically limited.

[0052] In this disclosure, unless expressly specified or limited otherwise, terms such as "attached," "connected," "coupled," "fixed," etc., shall be interpreted broadly, and may refer to, for example, a fixed connection, a detachable connection, or integration, a mechanical connection, an electrical connection or communication, a direct connection, an indirect connection via an intermediate medium, or an internal communication between two elements or an interactive relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this disclosure on a case-by-case basis.

[0053] In this disclosure, unless expressly specified or limited otherwise, a first feature being "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features without direct contact but via another feature. Furthermore, a first feature being "above," "above," or "on the upper surface" of a second feature means that the first feature is directly above and diagonally above the second feature, or simply that the first feature is horizontally higher than the second feature. A first feature being "below," "below," or "on the lower surface" of a second feature means that the first feature is directly below and diagonally below the second feature, or simply that the first feature is horizontally lower than the second feature.

[0054] The above disclosure has provided numerous different embodiments or examples for implementing different structures of the present disclosure. To simplify the disclosure of the present disclosure, the components and configurations of specific examples have been described above. Of course, these are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numerals and / or characters in different examples; such repetition is for the purposes of brevity and clarity and does not in itself indicate a relationship between the various embodiments and / or configurations discussed.

[0055] The above are merely specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto, and a person skilled in the art can easily think of various modifications or substitutions within the scope of the technology disclosed in the present disclosure, which shall be covered within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure shall be subject to the scope of protection of the claims described herein. [Explanation of symbols]

[0056] 10 Traveling mechanism, 11 Traveling wheel, 12 Frame, 21 First lifting lever set, 22 First platform, 31 Slide rod, 32 Screw, 33 Second platform, 34 Second drive motor, 41 Rotating motor, 42 Rotating frame, 421 Vertical plate, 422 Bottom plate, 43 Rotating table, 441 Rack rail, 442 H-shaped rail, 51 Receiving rod, 52 Slider, 53 Translation motor, 54 Wheel, 55 Claw, 61 Support rod, 62 Stopper sleeve, 63 Switch assembly, 64 Pull rope, 65 Support leg, 66 Connecting block, 71 Imaging device, 80 Material to be transported.

Claims

1. A periscopic doffing device, a travel mechanism (10) including a frame (12), travel wheels (11) and a travel motor, the travel mechanism (10) being installed in an underground trench below ground, the underground trench being installed along a first straight line, the first straight line being parallel to a second straight line formed by a plurality of material receiving stations; a first lifting mechanism including a first lifting lever set (21), a first drive motor, and a first platform (22), wherein the first lifting lever set (21) is fixed to the frame (12), a tip of the first lifting lever set (21) is connected to the first platform (22), and the first lifting lever set (21) adjusts the height of the first platform (22) by driving the first drive motor; a second lifting mechanism including a second lifting lever set, a second drive motor (34) and a second platform (33), the second lifting lever set being installed on the first platform (22), a tip of the second lifting lever set being connected to the second platform (33), and the second lifting lever set adjusting the height of the second platform (33) by driving the second drive motor (34); a rotation mechanism including a rotation motor (41) fixed to the second platform (33) and a rotation frame (42), wherein the rotation motor (41) is fixed to the second platform (33), the rotation motor (41) is connected to a rotation table (43) at the bottom of the rotation frame (42), and the rotation frame (42) is provided with a horizontally installed slide rail assembly, and the orientation of the rotation frame (42) is switched between a first direction and a second direction by driving the rotation motor (41); a wound yarn package receiving mechanism including a receiving rod (51) and a translation assembly, wherein a first end of the receiving rod (51) is connected to the translation assembly, the translation assembly is connected to the slide rail assembly, and the receiving rod (51) is moved telescopically along the direction of the rotating frame (42) by driving the translation assembly so that a second end of the receiving rod (51) reaches a target material receiving station and receives the material to be transferred; Periscopic doffing device.

2. The first lifting lever set (21) includes a plurality of hydraulic lifting levers, the bottoms of which are fixed to the center of the frame (12), and the tips of which are uniformly arranged across the edge of the first platform (22).

2. The periscopic doffing device according to claim 1.

3. The second lifting lever set includes a plurality of sets of threaded screws and slide rods, and the slide rods are fixedly connected to one of the first platform (22) and the second platform (33) and slidably connected to the other. The bottoms of the threaded screws pass through the first platform (22) and are connected to a second drive motor (34) installed below the first platform (22). The second drive motor (34) rotates and drives the threaded screws to lift and lower the second platform (33).

2. The periscopic doffing device according to claim 1.

4. A pair of vertical plates (421) are provided on both longitudinal sides of the rotation mechanism, and the bottoms of the pair of vertical plates (421) are connected to the rotary table (43) via a bottom plate (422). The vertical plates (421) are provided with horizontally arranged slots. The slide rail assembly is fixed to the inside of the vertical plate (421) below the slots. The translation assembly is installed between the pair of vertical plates (421). The translation motor (53) of the translation assembly is connected to the slide rail assembly. The slider (52) of the translation assembly passes through the slots and is connected to a first end of the receiving rod (51) located outside the vertical plate (421).

2. The periscopic doffing device according to claim 1.

5. The slide rail assembly includes a rack rail (441) and an H-shaped rail (442), the H-shaped rail (442) is fixed to the bottom plate (422), the rack rail (441) is fixed to the inside of the vertical plate (421), the bottom of the translation motor (53) is connected to the H-shaped rail (442) via a wheel (54), the output end of the translation motor (53) is connected to the rack rail (441) via a gear, and the slider (52) is connected to the translation motor (53).

5. The periscopic doffing device according to claim 4.

6. The periscopic doffing device further includes an auxiliary support mechanism, the auxiliary support mechanism includes a stopper sleeve (62), a support rod (61), a switch assembly (63), a pulling rope (64), and a locking pin, the stopper sleeve (62) is provided at a first end of the rotation mechanism, a vertical through-hole is formed in the center of the stopper sleeve (62), the support rod (61) is movably provided in the vertical through-hole, a locking pin is provided on one side of the vertical through-hole, the locking pin is connected to the switch assembly (63), the support rod (61) is provided with a one-way tooth matching the locking pin, and the locking pin is separated from or engaged with the support rod (61) by driving the switch assembly (63), the first end of the pulling rope (64) is connected to a bottom of the support rod (61), and the second end of the pulling rope (64) is connected to a power source for lifting the support rod (61).

2. The periscopic doffing device according to claim 1.

7. a second end of the pulling rope (64) being detachably connected to the claw (55) of the translation assembly via a connecting block (66), the connecting block (66) being provided in a slide groove parallel to the slide rail assembly, the claw (55) separating from the connecting block (66) before the translation assembly extends outward so that the support rod (61) slides down to the ground by gravity, and the claw (55) moving the connecting block (66) so as to lift and retrieve the support rod (61) while the translation assembly retracts inward; 7. The periscopic doffing device according to claim 6.

8. When the doffing apparatus moves toward the target material receiving station, the entire doffing apparatus is located in the underground trench, and when the doffing apparatus reaches the target material receiving station, the wound yarn package receiving mechanism rises from the underground trench and docks with the target material receiving station by driving the first lifting mechanism, the second lifting mechanism, and the rotation mechanism to receive the material to be transferred, and when the doffing apparatus returns from the target material receiving station, at least a part of the doffing apparatus is located in the underground trench, and when the traveling mechanism (10) of the doffing apparatus moves, the orientation of the rotating frame (42) is in the first direction, and the first direction is parallel to the first straight line. The periscopic doffing device according to any one of claims 1 to 7.

9. After the doffing apparatus reaches the target material receiving station, the first lifting mechanism and the second lifting mechanism lift the wound yarn package receiving mechanism to a height matching the target material receiving station, the rotation mechanism rotates the rotating frame (42) in a second direction that is a moving direction of the material (80) to be transferred at the target material receiving station, and the second end of the receiving rod (51) is extended horizontally by driving the translation assembly so as to reach the target material receiving station, thereby performing a material receiving operation.

9. The periscopic doffing device according to claim 8.

10. an imaging device (71) is provided at a first end of the rotating frame (42) for determining a position difference between the second end of the receiving rod (51) and the target material receiving station; The second lifting mechanism adjusts the longitudinal position of the second end of the receiving rod (51) based on the position difference to achieve accurate docking; and / or The rotation mechanism adjusts the lateral position of the second end of the receiving rod (51) according to the position difference.

2. The periscopic doffing device according to claim 1.

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